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Added analog output to minimal example.

This commit is contained in:
Florian Pose 2008-08-01 08:11:23 +00:00
parent 09a6ddc5a4
commit a2e6a8f815
1 changed files with 57 additions and 19 deletions
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76
examples/mini/mini.c
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@ -45,7 +45,7 @@
// Optional features
#define CONFIGURE_PDOS 1
#define EL3162_ALT_PDOS 0
#define EL3152_ALT_PDOS 0
#define EXTERNAL_MEMORY 1
#define SDO_ACCESS 0
@ -73,20 +73,25 @@ static struct timer_list timer;
static uint8_t *domain1_pd; // process data memory
#define AnaInSlavePos 0, 1
#define AnaOutSlavePos 0, 2
#define DigOutSlavePos 0, 3
#define Beckhoff_EL2004 0x00000002, 0x07D43052
#define Beckhoff_EL3162 0x00000002, 0x0C5A3052
#define Beckhoff_EL3152 0x00000002, 0x0c503052
#define Beckhoff_EL4102 0x00000002, 0x10063052
static unsigned int off_ana_in; // offsets for Pdo entries
// offsets for Pdo entries
static unsigned int off_ana_in;
static unsigned int off_ana_out;
static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
#if EL3162_ALT_PDOS
{AnaInSlavePos, Beckhoff_EL3162, 0x6401, 2, &off_ana_in},
#if EL3152_ALT_PDOS
{AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
#else
{AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
{AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
#endif
{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
{DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
{}
};
@ -98,7 +103,9 @@ static unsigned int blink = 0;
#if CONFIGURE_PDOS
static ec_pdo_entry_info_t el3162_pdo_entries[] = {
// Analog in --------------------------
static ec_pdo_entry_info_t el3152_pdo_entries[] = {
{0x3101, 1, 8}, // channel 1 status
{0x3101, 2, 16}, // channel 1 value
{0x3102, 1, 8}, // channel 2 status
@ -107,29 +114,49 @@ static ec_pdo_entry_info_t el3162_pdo_entries[] = {
{0x6401, 2, 16} // channel 2 value (alt.)
};
#if EL3162_ALT_PDOS
static ec_pdo_info_t el3162_pdos[] = {
{0x1A10, 2, el3162_pdo_entries + 4},
#if EL3152_ALT_PDOS
static ec_pdo_info_t el3152_pdos[] = {
{0x1A10, 2, el3152_pdo_entries + 4},
};
static ec_sync_info_t el3162_syncs[] = {
static ec_sync_info_t el3152_syncs[] = {
{2, EC_DIR_OUTPUT},
{3, EC_DIR_INPUT, 1, el3162_pdos},
{3, EC_DIR_INPUT, 1, el3152_pdos},
{0xff}
};
#else
static ec_pdo_info_t el3162_pdos[] = {
{0x1A00, 2, el3162_pdo_entries},
{0x1A01, 2, el3162_pdo_entries + 2}
static ec_pdo_info_t el3152_pdos[] = {
{0x1A00, 2, el3152_pdo_entries},
{0x1A01, 2, el3152_pdo_entries + 2}
};
static ec_sync_info_t el3162_syncs[] = {
static ec_sync_info_t el3152_syncs[] = {
{2, EC_DIR_OUTPUT},
{3, EC_DIR_INPUT, 2, el3162_pdos},
{3, EC_DIR_INPUT, 1, el3152_pdos},
{0xff}
};
#endif
// Analog out -------------------------
static ec_pdo_entry_info_t el4102_pdo_entries[] = {
{0x3001, 1, 16}, // channel 1 value
{0x3002, 1, 16}, // channel 2 value
};
static ec_pdo_info_t el4102_pdos[] = {
{0x1600, 1, el4102_pdo_entries},
{0x1601, 1, el4102_pdo_entries + 1}
};
static ec_sync_info_t el4102_syncs[] = {
{2, EC_DIR_OUTPUT, 2, el4102_pdos},
{3, EC_DIR_INPUT},
{0xff}
};
// Digital out ------------------------
static ec_pdo_entry_info_t el2004_channels[] = {
{0x3001, 1, 1}, // Value 1
{0x3001, 2, 1}, // Value 2
@ -330,14 +357,25 @@ int __init init_mini_module(void)
}
if (!(sc_ana_in = ecrt_master_slave_config(
master, AnaInSlavePos, Beckhoff_EL3162))) {
master, AnaInSlavePos, Beckhoff_EL3152))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
#if CONFIGURE_PDOS
printk(KERN_INFO PFX "Configuring Pdos...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
printk(KERN_ERR PFX "Failed to configure Pdos.\n");
goto out_release_master;
}
if (!(sc = ecrt_master_slave_config(
master, AnaOutSlavePos, Beckhoff_EL4102))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
printk(KERN_ERR PFX "Failed to configure Pdos.\n");
goto out_release_master;
}